1. School of Mechatronical Engineering, Beijing Institute of Technology, Zhongguancun Street Road 5, Beijing 100081, China; Department of Overall Technology, China North Vehicle Research Institute, Huaishuling Yard 4, Beijing 100072, China e-mail:
2. Department of Mechanical Engineering, University of Ottawa, 161 Louis-Pasteur, Ottawa, ON K1N 6N5, Canada e-mail:
3. Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Zhongguancun East Road 55, Beijing 100190, China e-mail:
4. School of Mechatronical Engineering, Beijing Institute of Technology, Zhongguancun Street Road 5, Beijing 100081, China e-mail: